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Robot path planning method based on genetic algorithm and improved artificial potential field method

A technology of artificial potential field method and genetic algorithm, applied in the field of robot path planning, can solve the problems of unreachable target, local optimum, poor adaptability to dynamic environment, etc., to avoid the local minimum problem and improve the quality and efficiency.

Active Publication Date: 2021-04-02
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

[0003] The present invention proposes a robot path planning method based on genetic algorithm and improved artificial potential field method, aiming to solve the problems of local optimum, unreachable target and poor adaptability to dynamic environment in the robot path planning method based on traditional artificial potential field method technical issues

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  • Robot path planning method based on genetic algorithm and improved artificial potential field method
  • Robot path planning method based on genetic algorithm and improved artificial potential field method
  • Robot path planning method based on genetic algorithm and improved artificial potential field method

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Embodiment Construction

[0049] In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0050] The invention proposes a path planning method for a mobile robot based on a genetic algorithm and an improved artificial potential field method, which is used to obtain optimal or near-optimal path planning and realize the global optimization of the mobile robot.

[0051] Please refer to figure 1 , figure 1 It is a flow chart of the mobile robot path planning method based on the genetic algorithm and the improved artificial potential field method of the present invention; the specific steps of the method include the following:

[0052] Step S1, use the artificial potential field method to model the working area of ​​the mobile robot, and obtain the artificial potential field environment model. The specific process is as follows:

[0053] The a...

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Abstract

The invention provides a robot path planning method based on a genetic algorithm and an improved artificial potential field method, which belongs to the technical field of robot path planning methods.The method comprises the following steps of carrying out environment modeling on a working area of the mobile robot by utilizing an improved artificial potential field method, setting related parameters including related parameters of an artificial potential field method and a genetic algorithm, selecting a reciprocal of the resultant potential field intensity of the artificial potential field asa fitness function of the genetic algorithm, and calculating a fitness function value, and optimizing the coding parameters by using a genetic algorithm to obtain optimal parameters, calculating a path point of the robot according to the optimal parameters, and finally obtaining an optimal path in a complex multi-obstacle environment. According to the method, the defects of a traditional potential field method are overcome, falling into local extreme points is avoided, oscillation points are eliminated, the characteristics of the genetic algorithm are utilized to improve the globally optimalsolution or the near-optimal solution of robot path planning, and the path quality and the planning efficiency are greatly improved.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a robot path planning method based on a genetic algorithm and an improved artificial potential field method. Background technique [0002] Since the beginning of the new century, new technologies represented by the Internet, big data, and artificial intelligence have been rapidly integrated with the manufacturing industry, which has promoted the progress and maturity of intelligent manufacturing. At the same time, new technologies and new products related to robots continue to emerge, which has become a new driving force to promote a new round of scientific and technological revolution and industrial revolution, which not only changes people's lives, but also provides a breakthrough for the development of manufacturing industry. The level of a country's intelligent robot technology symbolizes the country's comprehensive strength in automation, artificial intelligence, self-adap...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221
Inventor 刘峰贺华玲
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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